Roadmaps

This is the list of major issues and features the Nav2 maintainers are committing for completion for various ROS 2 releases. This is not an exhaustive list of planned features or what changes may be found in the new distribution. It represents only the items of direct commitment to give insight into commitments for REP-2005 repositories in the ROS 2 Roadmap. For a full list of important completed changes in the project, see the Migration Guides Migration Guides.

Lyrical Roadmap

Controller Server and Plugin factor for centralized path handling and crosstrack error estimation and enforcement.

Large

Massive refactor of rclcpp types to nav2 types for ROS API abstraction

Large (in progress)

Improve dynamic feasibility on approach to goal on all control and behavior plugins

Medium (DONE)

Introduce Vector Object Server to augment Costmap Filters with polygons rather than annotated masks

Medium (DONE)

Continued Route Server

Medium

Add Pause and Resume feature to Nav2 behavior tree tasks

Medium (DONE)

Use PointCloud Transport for all pointcloud subscriptions

Medium (DONE)

Kilted Roadmap

Release of Route server

Large (DONE)

Allow non-orientation sp. for smac planner goals

Medium (DONE)

Allow docking server to operate forward and backwards

Medium (DONE)

Jazzy Roadmap

Smac Planner Improvements

Large (DONE)

Get CI Green Again

Small (DONE)

Various MPPI Improvements

Medium (DONE)

Fuse Migration

Medium (incomplete)

Ignition Migration

Medium (DONE)

Route Graph Planner

Large (in progress)

Provide Advanced Capabilities Tutorials (e.g. gps, vio)

Medium (DONE)

ROS Time Respect Across Stack

Medium (DONE)

TwistStamped Migration

Medium (DONE)

Velocity-Scheduled Collision Monitor Polygons

Medium (DONE)

Nav2 auto-docking capability

Medium (DONE)

Iron Roadmap

Plugin Name

Size

Pluginize Navigators

Medium (DONE)

MPPI Controller

Very Large (DONE)

Route Graph Planner

Large (incomplete)

90% unit test coverage

Small (DONE)

Velocity Smoother

Medium (DONE)

ROS Time Respect Across Stack

Medium (incomplete)

Humble Roadmap

Plugin Name

Size

Nav2 1 Node Per Server

Medium (DONE)

Smac Lattice Planner

Large (DONE)

Safety Collision Nodes

Medium (DONE)

Fix Min Range Bug

Small (DONE)

Move Development from Master to Rolling

Small (DONE)

Push Test Coverage to 88%

Medium (DONE)

Complete First Time Guide

Medium (DONE)

Rotation Shim Controller

Small (DONE)

Dynamic Composition

Medium (DONE)